
#include "imu_task.h"
#include "bsp_imu.h"
#include "stdint.h"
#include "FreeRTOS.h"
#include "queue.h"
#include "task.h"
#include "cmsis_os.h"
#include "SEGGER_RTT.h"

struct attitude mahony_atti;
struct ahrs_sensor mpu_sensor;


void user_imu_task(void const * argument)
{

  MPU6500_Init();


  while(1)
  {
    IMU_Get_Data(&mpu_sensor);
    mahony_ahrs_updateIMU(&mpu_sensor, &mahony_atti);
//
    vTaskDelay(10);
  }
}



/********** END OF FILE **********/
